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PhotonVision · Oct 20, 2023 · 8fb104a · 8fb104a
1 parent 975519a
commit 8fb104a
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Showing 4 changed files with 7 additions and 8 deletions.
diff --git a/photon-client/src/components/dashboard/tabs/OutputTab.vue b/photon-client/src/components/dashboard/tabs/OutputTab.vue
@@ -87,7 +87,7 @@ const interactiveCols = computed(
     <pv-switch
       v-if="
         (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
-        currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
+          currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
         useCameraSettingsStore().isCurrentVideoFormatCalibrated
       "
       v-model="currentPipelineSettings.doMultiTarget"
@@ -100,7 +100,7 @@ const interactiveCols = computed(
     <pv-switch
       v-if="
         (currentPipelineSettings.pipelineType === PipelineType.AprilTag ||
-        currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
+          currentPipelineSettings.pipelineType === PipelineType.Aruco) &&
         useCameraSettingsStore().isCurrentVideoFormatCalibrated
       "
       v-model="currentPipelineSettings.doSingleTargetAlways"

diff --git a/photon-client/src/components/dashboard/tabs/TargetsTab.vue b/photon-client/src/components/dashboard/tabs/TargetsTab.vue
@@ -81,7 +81,7 @@ import { useStateStore } from "@/stores/StateStore";
     <v-row
       v-if="
         (useCameraSettingsStore().currentPipelineType === PipelineType.AprilTag ||
-                    useCameraSettingsStore().currentPipelineType === PipelineType.Aruco) &&
+          useCameraSettingsStore().currentPipelineType === PipelineType.Aruco) &&
         useCameraSettingsStore().currentPipelineSettings.doMultiTarget
       "
       align="start"

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java
@@ -79,7 +79,7 @@ protected void setPipeParamsImpl() {
         var params = new ArucoDetectionPipeParams();
         // sanitize and record settings
 
-        switch(settings.tagFamily) {
+        switch (settings.tagFamily) {
             case kTag36h11:
                 params.tagFamily = Objdetect.DICT_APRILTAG_36h11;
                 break;
@@ -196,7 +196,8 @@ protected CVPipelineResult process(Frame frame, ArucoPipelineSettings settings)
                                 new Transform3d(
                                         new Pose3d().plus(multiTagResult.estimatedPose.best), tagPose.get());
                         // match expected OpenCV coordinate system
-                        camToTag = CoordinateSystem.convert(camToTag, CoordinateSystem.NWU(), CoordinateSystem.EDN());
+                        camToTag =
+                                CoordinateSystem.convert(camToTag, CoordinateSystem.NWU(), CoordinateSystem.EDN());
 
                         tagPoseEstimate = new AprilTagPoseEstimate(camToTag, camToTag, 0, 0);
                     }

diff --git a/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java b/photon-core/src/test/java/org/photonvision/vision/pipeline/ArucoPipelineTest.java
@@ -17,8 +17,8 @@
 
 package org.photonvision.vision.pipeline;
 
+import edu.wpi.first.math.geometry.Translation3d;
 import java.util.stream.Collectors;
-
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
@@ -31,8 +31,6 @@
 import org.photonvision.vision.target.TargetModel;
 import org.photonvision.vision.target.TrackedTarget;
 
-import edu.wpi.first.math.geometry.Translation3d;
-
 public class ArucoPipelineTest {
     @BeforeEach
     public void setup() {